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webCAMotion/CPP/GUI/core/core.h

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#ifndef CORE_H
#define CORE_H
#include <opencv2/opencv.hpp>
#include <math.h>
struct coordinate {int x; int y; }; typedef struct coordinate coordinate;
struct coord3d {double x; double y; double z;}; typedef struct coord3d coord3d;
using namespace std;
using namespace cv;
#ifndef _MATH_H
#define _MATH_H
int pow(int a, int b)
{
int o=1;
int t;
for (t=0;t<b;t++)
o*=a;
return o;
}
int sqrt(int i)
{
if (i==0) return 0;
if (i==1) return 1;
if (i<0) return sqrt(-i);
int o=1;
while (!((pow(o,2)<=i) && (pow(o+1,2)>i)))
{
o++;
}
return o;
}
#endif // _MATH_H
double deg2rad(double i)
{
return (i*(M_PI/180.0));
}
double rad2deg(double i)
{
return (i*(180.0/M_PI));
}
double euclideanDistance(coordinate in1, coordinate in2)
{
double f;
long long int dx,dy;
double t;
dx = ((in1.x)-(in2.x));
dy = ((in1.y)-(in2.y));
t = pow(dx,2) + pow(dy,2);
f = sqrt(t);
return f;
}
double pitagoras(double cat1, double cat2)
{
return sqrt(pow(cat1,2)+pow(cat2,2));
}
void swapCoord(coordinate *in1, coordinate *in2)
{
coordinate *tmp = in1;
in1 = in2;
in2 = tmp;
return;
}
void swapInt(int *in1, int *in2)
{
int *tmp = in1;
in1 = in2;
in2 = tmp;
return;
}
#ifdef __unix__ //works perfectly on linux; why not in windows?
coordinate bestIlluminati(Mat inmage, int lin, int col, int layer)
{
int x;
int y;
int sx=inmage.step[1];
int sy=inmage.step[0];
char v;
coordinate vec1[lin*col];
coordinate vec2[lin*col];
uint8_t* pixelPtr;
pixelPtr = (uint8_t*)inmage.data;
char vec1val=0;
char vec2val=0;
long int vec1len=0;
long int vec2len=0;
for (y=0; y<lin; y++)
{for (x=0; x<col; x++)
{
v=*(pixelPtr+((sx*x)+(y*sy)+(layer)));
if (((int)vec1val)==((int)v))
{
vec1[vec1len].x=x;
vec1[vec1len].y=y;
vec1len++;
}
else if (((int)vec2val)==((int)v))
{
vec2[vec2len].x=x;
vec2[vec2len].y=y;
vec2len++;
}
else if (((int)vec1val)<((int)v))
{
vec2len=vec1len;
vec2val=vec1val;
swapCoord(vec1,vec2);
vec1val=v;
vec1len=0;
vec1[vec1len].x=x;
vec1[vec1len].y=y;
vec1len++;
}
else if ((((int)vec1val)>((int)v))&&(((int)v)>((int)vec2val)))
{
vec2val=v;
vec2len=0;
vec2[vec2len].x=x;
vec2[vec2len].y=y;
vec2len++;
};
};};
/////////////////////////////////////
long long int sv1x=0;
long long int sv1y=0;
long long int sv2x=0;
long long int sv2y=0;
for (x=0; x<vec1len; x++)
{
sv1x+=vec1[x].x;
sv1y+=vec1[x].y;
};
for (x=0; x<vec2len; x++)
{
sv2x+=vec2[x].x;
sv2y+=vec2[x].y;
};
int v1x=0;
int v1y=0;
if (vec1len>0)
{
v1x=sv1x/vec1len;
v1y=sv1y/vec1len;
}
else {struct coordinate retVal; retVal.x=0; retVal.y=0; return retVal;};
int v2x=v1x;
int v2y=v1y;
if (vec2len>0)
{
v2x=sv2x/vec2len;
v2y=sv2y/vec2len;
};
//////////////////////
struct coordinate retVal;
retVal.x=((2*v1x)+(v2x))/3;
retVal.y=((2*v1y)+(v2y))/3;
return retVal;
}
#endif //unix
#ifdef _WIN32
#include <malloc.h>
coordinate bestIlluminati(Mat inmage, int lin, int col, int layer)
{
int x;
int y;
int sx=inmage.step[1];
int sy=inmage.step[0];
char v;
long long int tmp=lin*col*2;
int *vec1=(int*)malloc(sizeof(int)*tmp);
int *vec2=(int*)malloc(sizeof(int)*tmp);
uint8_t* pixelPtr;
pixelPtr = (uint8_t*)inmage.data;
char vec1val=0;
char vec2val=0;
long int vec1len=0;
long int vec2len=0;
for (y=0; y<lin; y++)
{for (x=0; x<col; x++)
{
v=*(pixelPtr+((sx*x)+(y*sy)+(layer)));
if (((int)vec1val)==((int)v))
{
vec1[0+2*vec1len]=x;
vec1[1+2*vec1len]=y;
vec1len++;
}
else if (((int)vec2val)==((int)v))
{
vec2[0+2*vec2len]=x;
vec2[1+2*vec2len]=y;
vec2len++;
}
else if (((int)vec1val)<((int)v))
{
vec2len=vec1len;
vec2val=vec1val;
swapInt(vec1,vec2);
vec1val=v;
vec1len=0;
vec1[0+2*vec1len]=x;
vec1[1+2*vec1len]=y;
vec1len++;
}
else if ((((int)vec1val)>((int)v))&&(((int)v)>((int)vec2val)))
{
vec2val=v;
vec2len=0;
vec2[0+2*vec2len]=x;
vec2[1+2*vec2len]=y;
vec2len++;
};
};};
/////////////////////////////////////
long long int sv1x=0;
long long int sv1y=0;
long long int sv2x=0;
long long int sv2y=0;
for (x=0; x<vec1len; x++)
{
sv1x+=vec1[0+2*x];
sv1y+=vec1[1+2*x];
};
for (x=0; x<vec2len; x++)
{
sv2x+=vec2[0+2*x];
sv2y+=vec2[1+2*x];
};
free(vec1);
free(vec2);
int v1x=0;
int v1y=0;
if (vec1len>0)
{
v1x=sv1x/vec1len;
v1y=sv1y/vec1len;
}
else {struct coordinate retVal; retVal.x=0; retVal.y=0; return retVal;};
int v2x=v1x;
int v2y=v1y;
if (vec2len>0)
{
v2x=sv2x/vec2len;
v2y=sv2y/vec2len;
};
//////////////////////
struct coordinate retVal;
retVal.x=((2*v1x)+(v2x))/3;
retVal.y=((2*v1y)+(v2y))/3;
return retVal;
}
#endif //win32
#if defined(__unix__) || defined(_WIN32)
#else
#error
#endif
void makeSelectionVisible(Mat inmage, int sel, int cn, int lins, int cols, coordinate co)
{
int x;
int y;
int sx=inmage.step[1];
int sy=inmage.step[0];
int k;
uint8_t *pixelPtr;
pixelPtr = (uint8_t*)inmage.data;
x=co.x;
y=co.y;
for (y=0; y<lins; y++)
{
for (k=0;k<cn;k++)
{
if (sel==k)
{
*(pixelPtr+((sx*x)+(y*sy)+(k)))=255;
}
else
{
*(pixelPtr+((sx*x)+(y*sy)+(k)))=0;
};
};
};
x=co.x;
y=co.y;
for (x=0; x<cols; x++)
{
for (k=0;k<cn;k++)
{
if (sel==k)
{
*(pixelPtr+((sx*x)+(y*sy)+(k)))=255;
}
else
{
*(pixelPtr+((sx*x)+(y*sy)+(k)))=0;
};
};
};
return;
}
coordinate smootherPoints(coordinate *coordhistory, int coordhistoryptr, int smoothNumberFrames)
{
int l;
int m;
long int sx=0;
long int sy=0;
coordinate crdnt;
for (l=0;l<smoothNumberFrames;l++)
{
m=(coordhistoryptr+l)%smoothNumberFrames;
sx+=coordhistory[m].x;
sy+=coordhistory[m].y;
};
crdnt.x=(int)(sx/smoothNumberFrames);
crdnt.y=(int)(sy/smoothNumberFrames);
return crdnt;
};
coordinate proportionWebcamToScreen(float basex, float basey, int wcrx, int wcry, int scrx, int scry, int offprop)
{
coordinate m;
float mx;
float my;
float ex;
float ey;
float ax;
float ay;
ex=(wcrx*(offprop/100.0));
ey=(wcry*(offprop/100.0));
ax=(wcrx-(2*ex));
ay=(wcry-(2*ey));
////
if (basex<ex)
mx=0;
else if (basex>(ex+ax))
mx=scrx-1;
else
mx=((basex-ex)/((float)ax))*scrx;
////
if (basey<ey)
my=0;
else if (basey>(ey+ay))
my=scry-1;
else
my=((basey-ey)/((float)ay))*scry;
////
m.x = mx;
m.y = my;
return m;
}
double cameraPX2CM(double camAngle, double distInCm, int pixAmm)
{
return ((sin(camAngle)*distInCm)/pixAmm);
}
#include <stdio.h>
coordinate wherePointing(coordinate* coords, int wcrx, int wcry, int scrx, int scry,
int distanceAwayDisplay, int baseToEdgeDistance, int colorBase,
int colorEdge, int screensize)
{
//printf("%d,%d\n",colorBase,colorEdge);
double camAngle = deg2rad(60)/2; //read as FOV
coord3d base;
coord3d edge;
double p2c=cameraPX2CM(camAngle,distanceAwayDisplay,scrx/4);
double distanceBaseEdge=euclideanDistance(coords[colorBase],coords[colorEdge])*p2c;
if (distanceBaseEdge>baseToEdgeDistance)
distanceBaseEdge=baseToEdgeDistance;
double zangle=acos(distanceBaseEdge/baseToEdgeDistance);
//printf("%f\n",cameraPX2CM(camAngle,distanceAwayDisplay,wcrx/2));
//
base.z=distanceAwayDisplay;
base.x=(distanceAwayDisplay*((sin(camAngle)*(coords[colorBase].x/((double)wcrx)))-0.5));
base.y=(distanceAwayDisplay*((sin(camAngle)*(coords[colorBase].y/((double)wcry)))-0.5));
//printf("%05.1f -- %05.1f -- %05.1f\n",base.x,base.y,base.z);
//
double angle = atan2(coords[colorBase].y-coords[colorEdge].y, coords[colorBase].x-coords[colorEdge].x);
//printf("% 6.1f\n",rad2deg(angle));
//
edge.x=base.x+(distanceBaseEdge*cos(angle));
edge.y=base.y+(distanceBaseEdge*sin(angle));
edge.z=distanceAwayDisplay-(baseToEdgeDistance*cos(zangle));
//printf("%05.1f -- %05.1f\n",zangle,cos(zangle));
//printf("%05.1f -- %05.1f -- %05.1f\n",edge.x,edge.y,edge.z);
//
coord3d delta;
delta.x=base.x-edge.x;
delta.y=base.y-edge.y;
delta.z=base.z-edge.z;
if (delta.z==0)
delta.z=0.002;
//printf("%05.1f -- %05.1f -- %05.1f\n",delta.x,delta.y,delta.z);
//
double px,py;
int dx,dy;
dx=scrx/2;
dy=scry/2;
px=((((distanceAwayDisplay*cos(zangle))/delta.z)*delta.x)/p2c);
py=((((distanceAwayDisplay*cos(zangle))/delta.z)*delta.y)/p2c);
px*=sqrt(screensize);
py*=sqrt(screensize);
px+=dx;
py+=dy;
//printf("%d\n",screensize);
/*
px+=wcrx/2;
py+=wcry/2;*/
//(screensize*2.54)
/*
* Here the projections PX and PY are scaled as*/
//printf("%05.1f -- %05.1f\n",px,py);
coordinate ret;
ret=proportionWebcamToScreen(px,py,scrx,scry,scrx,scry,0);
return ret;
}
using namespace std;
using namespace cv;
void clickedInImage(int event, int x, int y, int flags, void* userdata){
if(event == EVENT_LBUTTONDOWN || event == EVENT_RBUTTONDOWN || event == EVENT_MBUTTONDOWN) GVAR1=1;
else GVAR1=0;
}
using namespace std;
#endif // CORE_H
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